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Athletic robots demand a whole-body actuation system design that utilizesmotors up to the boundaries of their performance. However, creating such robotsposes challenges of integrating design principles and reasoning of practicaldesign choices. This paper presents a design framework that guides designers tofind optimal design choices to create an actuation system that can rapidlygenerate torques and velocities required to achieve a given set of tasks, byminimizing inertia and leveraging cooperation between actuators. The frameworkserves as an interactive tool for designers who are in charge of providingdesign rules and candidate components such as motors, reduction mechanism, andcoupling mechanisms between actuators and joints. A binary integer linearoptimization explores design combinations to find optimal components that canachieve a set of tasks. The framework is demonstrated with 200 optimal designstudies of a biped with 5-degree-of-freedom (DoF) legs, focusing on the effectof achieving multiple tasks (walking, lifting), constraining the mass budget ofall motors in the system and the use of coupling mechanisms. The resultprovides a comprehensive view of how design choices and rules affect reflectedinertia, copper loss of motors, and force capability of optimal actuationsystems.

Control- & Task-Aware Optimal Design of Actuation System for Legged Robots using Binary Integer Linear Programming